From 0a3b972f8ff1b1e82c5cd6c05b78e93cc3e7d9aa Mon Sep 17 00:00:00 2001
From: Brian Hou <brianmhou@gmail.com>
Date: Tue, 17 Apr 2018 15:46:56 -0700
Subject: [PATCH 1/3] Mark optional dependencies in package.xml.

---
 package.xml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index 6247b1cfca..995a08326e 100644
--- a/package.xml
+++ b/package.xml
@@ -20,7 +20,8 @@
   <!-- Workaround to build DART with optional features enabled. -->
   <depend>nlopt</depend>
 
-  <!-- Optional dependencies. Uncomment these if you have them installed. -->
+  <!-- BEGIN OPTIONAL DEPENDENCIES -->
+  <!-- Uncomment these if you have them installed. -->
   <!-- <depend>libmicrohttpd</depend> -->
   <!-- <depend>roscpp</depend> -->
   <!-- <depend>actionlib</depend> -->
@@ -32,6 +33,7 @@
   <!-- <depend>trajectory_msgs</depend> -->
   <!-- <depend>visualization_msgs</depend> -->
   <!-- <depend>pr_control_msgs</depend> -->
+  <!-- END OPTIONAL DEPENDENCIES -->
 
   <doc_depend>doxygen</doc_depend>
 

From 5d756ad257bebdfa6d81a26e930111fa88089841 Mon Sep 17 00:00:00 2001
From: Brian Hou <brianmhou@gmail.com>
Date: Tue, 17 Apr 2018 16:10:52 -0700
Subject: [PATCH 2/3] Update CHANGELOG.md.

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 35c56c2b7b..b42fde3c21 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -34,6 +34,7 @@
 * Build & Testing & ETC
 
   * Fixed Eigen memory alignment issues on 32bit Ubuntu: [#368](https://github.com/personalrobotics/aikido/pull/368)
+  * Defined optional dependencies: [#376](https://github.com/personalrobotics/aikido/pull/376)
 
 ### 0.2.0 (2018-01-09)
 

From 0a7ee19d0ae5d91c5835d06ca86a01a65dc8cffe Mon Sep 17 00:00:00 2001
From: Brian Hou <brian.hou@live.com>
Date: Sat, 21 Apr 2018 18:33:26 -0700
Subject: [PATCH 3/3] Require optional dependencies by default.

---
 package.xml | 39 +++++++++++++++++++++++++--------------
 1 file changed, 25 insertions(+), 14 deletions(-)

diff --git a/package.xml b/package.xml
index 995a08326e..2250075cdf 100644
--- a/package.xml
+++ b/package.xml
@@ -20,20 +20,18 @@
   <!-- Workaround to build DART with optional features enabled. -->
   <depend>nlopt</depend>
 
-  <!-- BEGIN OPTIONAL DEPENDENCIES -->
-  <!-- Uncomment these if you have them installed. -->
-  <!-- <depend>libmicrohttpd</depend> -->
-  <!-- <depend>roscpp</depend> -->
-  <!-- <depend>actionlib</depend> -->
-  <!-- <depend>control_msgs</depend> -->
-  <!-- <depend>geometry_msgs</depend> -->
-  <!-- <depend>interactive_markers</depend> -->
-  <!-- <depend>std_msgs</depend> -->
-  <!-- <depend>tf</depend> -->
-  <!-- <depend>trajectory_msgs</depend> -->
-  <!-- <depend>visualization_msgs</depend> -->
-  <!-- <depend>pr_control_msgs</depend> -->
-  <!-- END OPTIONAL DEPENDENCIES -->
+  <!-- Optional dependencies. Delete these if you don't have them. -->
+  <depend>libmicrohttpd</depend>
+  <depend>roscpp</depend>
+  <depend>actionlib</depend>
+  <depend>control_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>interactive_markers</depend>
+  <depend>std_msgs</depend>
+  <depend>tf</depend>
+  <depend>trajectory_msgs</depend>
+  <depend>visualization_msgs</depend>
+  <depend>pr_control_msgs</depend>
 
   <doc_depend>doxygen</doc_depend>
 
@@ -49,5 +47,18 @@
 
   <export>
     <build_type>cmake</build_type>
+
+    <!-- Optional dependencies. -->
+    <optional>libmicrohttpd</optional>
+    <optional>roscpp</optional>
+    <optional>actionlib</optional>
+    <optional>control_msgs</optional>
+    <optional>geometry_msgs</optional>
+    <optional>interactive_markers</optional>
+    <optional>std_msgs</optional>
+    <optional>tf</optional>
+    <optional>trajectory_msgs</optional>
+    <optional>visualization_msgs</optional>
+    <optional>pr_control_msgs</optional>
   </export>
 </package>